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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
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<div class="title">pcl::simulation::RangeLikelihood类 参考</div>  </div>
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Public 类型</h2></td></tr>
<tr class="memitem:a947694be0d804f1596955ac792f4c5f4"><td class="memItemLeft" align="right" valign="top"><a id="a947694be0d804f1596955ac792f4c5f4"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1simulation_1_1_range_likelihood.html">RangeLikelihood</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1simulation_1_1_range_likelihood.html">RangeLikelihood</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:ad732e05f39b62fc0b503e10105b3d446"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1simulation_1_1_range_likelihood.html#ad732e05f39b62fc0b503e10105b3d446">RangeLikelihood</a> (int rows, int cols, int row_height, int col_width, Scene::Ptr scene)</td></tr>
<tr class="separator:ad732e05f39b62fc0b503e10105b3d446"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a66398bc8f4133abb63e9db774e958946"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1simulation_1_1_range_likelihood.html#a66398bc8f4133abb63e9db774e958946">~RangeLikelihood</a> ()</td></tr>
<tr class="separator:a66398bc8f4133abb63e9db774e958946"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1e329c68e4d8e6b6248dc78927e182a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1simulation_1_1_range_likelihood.html#ae1e329c68e4d8e6b6248dc78927e182a">computeLikelihoods</a> (float *reference, std::vector&lt; Eigen::Isometry3d, Eigen::aligned_allocator&lt; Eigen::Isometry3d &gt; &gt; poses, std::vector&lt; float &gt; &amp;scores)</td></tr>
<tr class="separator:ae1e329c68e4d8e6b6248dc78927e182a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24bfd65a4e209cf69261db64c052b316"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1simulation_1_1_range_likelihood.html#a24bfd65a4e209cf69261db64c052b316">setCameraIntrinsicsParameters</a> (int camera_width_in, int camera_height_in, float camera_fx_in, float camera_fy_in, float camera_cx_in, float camera_cy_in)</td></tr>
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<tr class="memitem:acf234b356cc68cac059e4cd65e48dfd0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1simulation_1_1_range_likelihood.html#acf234b356cc68cac059e4cd65e48dfd0">setCostFunction</a> (int which_cost_function_in)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setSigma</b> (double sigma_in)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setFloorProportion</b> (double floor_proportion_in)</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getRows</b> ()</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getCols</b> ()</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getRowHeight</b> ()</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getColWidth</b> ()</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getWidth</b> ()</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getHeight</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>getPointCloud</b> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a> &gt;::Ptr pc, bool make_global, const Eigen::Isometry3d &amp;pose)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>getRangeImagePlanar</b> (<a class="el" href="classpcl_1_1_range_image_planar.html">pcl::RangeImagePlanar</a> &amp;rip)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>addNoise</b> ()</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>sampleNormal</b> (double sigma=1.0)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setComputeOnCPU</b> (bool compute_on_cpu)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setSumOnCPU</b> (bool sum_on_cpu)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setUseColor</b> (bool use_color)</td></tr>
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const uint8_t *&#160;</td><td class="memItemRight" valign="bottom"><b>getColorBuffer</b> ()</td></tr>
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const float *&#160;</td><td class="memItemRight" valign="bottom"><b>getDepthBuffer</b> ()</td></tr>
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const float *&#160;</td><td class="memItemRight" valign="bottom"><b>getScoreBuffer</b> ()</td></tr>
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Private 成员函数</h2></td></tr>
<tr class="memitem:a00c689b8e7c0ec55aee337db0f18501e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1simulation_1_1_range_likelihood.html#a00c689b8e7c0ec55aee337db0f18501e">computeScores</a> (float *reference, std::vector&lt; float &gt; &amp;scores)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>computeScoresShader</b> (float *reference)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>render</b> (const std::vector&lt; Eigen::Isometry3d, Eigen::aligned_allocator&lt; Eigen::Isometry3d &gt; &gt; &amp;poses)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>drawParticles</b> (std::vector&lt; Eigen::Isometry3d, Eigen::aligned_allocator&lt; Eigen::Isometry3d &gt; &gt; poses)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>applyCameraTransform</b> (const Eigen::Isometry3d &amp;pose)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>applyCameraTransform</b> (const <a class="el" href="classpcl_1_1simulation_1_1_camera.html">Camera</a> &amp;camera)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setupProjectionMatrix</b> ()</td></tr>
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</table><table class="memberdecls">
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Private 属性</h2></td></tr>
<tr class="memitem:a79870d7de413375fb54525cf59575b89"><td class="memItemLeft" align="right" valign="top"><a id="a79870d7de413375fb54525cf59575b89"></a>
Scene::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>scene_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>rows_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>cols_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>row_height_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>col_width_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>width_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>height_</b></td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>depth_buffer_</b></td></tr>
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uint8_t *&#160;</td><td class="memItemRight" valign="bottom"><b>color_buffer_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>camera_width_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>camera_height_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>camera_fx_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>camera_fy_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>camera_cx_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>camera_cy_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>z_near_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>z_far_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>depth_buffer_dirty_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>color_buffer_dirty_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>score_buffer_dirty_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>which_cost_function_</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>floor_proportion_</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>sigma_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>fbo_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>score_fbo_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>depth_render_buffer_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>color_render_buffer_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>color_texture_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>depth_texture_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>score_texture_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>score_summarized_texture_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>sensor_texture_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>likelihood_texture_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>compute_likelihood_on_cpu_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>aggregate_on_cpu_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>use_instancing_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>generate_color_image_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>use_color_</b></td></tr>
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gllib::Program::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>likelihood_program_</b></td></tr>
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GLuint&#160;</td><td class="memItemRight" valign="bottom"><b>quad_vbo_</b></td></tr>
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std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>vertices_</b></td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>score_buffer_</b></td></tr>
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<a class="el" href="classpcl_1_1simulation_1_1_quad.html">Quad</a>&#160;</td><td class="memItemRight" valign="bottom"><b>quad_</b></td></tr>
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<a class="el" href="classpcl_1_1simulation_1_1_sum_reduce.html">SumReduce</a>&#160;</td><td class="memItemRight" valign="bottom"><b>sum_reduce_</b></td></tr>
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</table>
<h2 class="groupheader">构造及析构函数说明</h2>
<a id="ad732e05f39b62fc0b503e10105b3d446"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad732e05f39b62fc0b503e10105b3d446">&#9670;&nbsp;</a></span>RangeLikelihood()</h2>

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          <td class="memname">pcl::simulation::RangeLikelihood::RangeLikelihood </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>rows</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>cols</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>row_height</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>col_width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Scene::Ptr&#160;</td>
          <td class="paramname"><em>scene</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Create a new object to compute range image likelihoods.</p>
<p>OpenGL is used to render the images. It is assumed that render buffers have already been setup. The area used is from 0,0 to cols*col_width,rows*row_height.</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">rows</td><td>- number of rows to use in the render buffer. </td></tr>
    <tr><td class="paramname">cols</td><td>- number of columns to use in the render buffer. </td></tr>
    <tr><td class="paramname">row_height</td><td>- height of the image for a single particle. </td></tr>
    <tr><td class="paramname">col_width</td><td>- width of the image for a single particle. </td></tr>
    <tr><td class="paramname">scene</td><td>- a pointer to the scene that should be rendered when computing likelihoods. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a66398bc8f4133abb63e9db774e958946">&#9670;&nbsp;</a></span>~RangeLikelihood()</h2>

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          <td class="memname">pcl::simulation::RangeLikelihood::~RangeLikelihood </td>
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          <td class="paramname"></td><td>)</td>
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<p>Destroy the <a class="el" href="classpcl_1_1simulation_1_1_range_likelihood.html">RangeLikelihood</a> object and release any memory allocated. </p>

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<h2 class="groupheader">成员函数说明</h2>
<a id="ae1e329c68e4d8e6b6248dc78927e182a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae1e329c68e4d8e6b6248dc78927e182a">&#9670;&nbsp;</a></span>computeLikelihoods()</h2>

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          <td class="memname">void pcl::simulation::RangeLikelihood::computeLikelihoods </td>
          <td>(</td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>reference</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Isometry3d, Eigen::aligned_allocator&lt; Eigen::Isometry3d &gt; &gt;&#160;</td>
          <td class="paramname"><em>poses</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>scores</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Computes the likelihood of reference for each of the provided poses.</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">reference</td><td>is a depth image. </td></tr>
    <tr><td class="paramname">poses</td><td>is a vector of the poses to test. </td></tr>
    <tr><td class="paramname">scores</td><td>is an output argument. The resulting log likelihoods will be written in score. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a00c689b8e7c0ec55aee337db0f18501e">&#9670;&nbsp;</a></span>computeScores()</h2>

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          <td class="memname">void pcl::simulation::RangeLikelihood::computeScores </td>
          <td>(</td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>reference</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>scores</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<p>Evaluate the likelihood/score for a set of particles</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">reference</td><td>- input Measurement depth image (raw data) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">scores</td><td>- output score </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a24bfd65a4e209cf69261db64c052b316">&#9670;&nbsp;</a></span>setCameraIntrinsicsParameters()</h2>

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          <td class="memname">void pcl::simulation::RangeLikelihood::setCameraIntrinsicsParameters </td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>camera_width_in</em>, </td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>camera_height_in</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>camera_fx_in</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>camera_fy_in</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>camera_cx_in</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>camera_cy_in</em>&#160;</td>
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          <td>)</td>
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<p>Set the basic camera intrinsic parameters </p>
<div class="fragment"><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          camera_width_ = camera_width_in;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          camera_height_ = camera_height_in;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          camera_fx_ = camera_fx_in;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          camera_fy_ = camera_fy_in;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          camera_cx_ = camera_cx_in;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          camera_cy_ = camera_cy_in;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#acf234b356cc68cac059e4cd65e48dfd0">&#9670;&nbsp;</a></span>setCostFunction()</h2>

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          <td class="memname">void pcl::simulation::RangeLikelihood::setCostFunction </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>which_cost_function_in</em></td><td>)</td>
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<p>Set the cost function to be used - one of 4 hard coded currently </p>
<div class="fragment"><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;{  which_cost_function_ = which_cost_function_in;}</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>simulation/include/pcl/simulation/<a class="el" href="range__likelihood_8h_source.html">range_likelihood.h</a></li>
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